pymoveit_mtc.stages.FixCollisionObjects

class FixCollisionObjects(self: pymoveit_mtc.stages.FixCollisionObjects, name: str = 'fix collisions')

Bases: Stage

Test for collisions and find a correction for applicable objects. Move the objects out of the way along the correction direction.

Take a look at the How-To-Guides for an implementation of a task hierarchy that makes use of the FixCollisionObjects stage.

Methods

init	Initialize the stage once before planning.
reset	Reset the Stage.
setCostTerm	Overloaded function.

Attributes

failures	Failed Solutions of the stage (read-only)
forwarded_properties	set of properties forwarded from input to output InterfaceState
marker_ns	Namespace for any markers that are associated to the stage
max_penetration	Cutoff length up to which collision objects get fixed.
name	name of the stage displayed e.g.
properties	PropertyMap of the stage (read-only)
solutions	Successful Solutions of the stage (read-only)
timeout	Maximally allowed time [s] per computation step

class PropertyInitializerSource(self: pymoveit_mtc.core.Stage.PropertyInitializerSource, value: int)

Bases: pybind11_object

OR-combinable flags defining a source to initialize a specific property from. Used in pymoveit_mtc.core.PropertyMap configureInitFrom().

Members:

PARENT : Inherit properties from parent stage

INTERFACE : Inherit properties from the input InterfaceState

property name

property failures

Failed Solutions of the stage (read-only)

Type:

Solutions

property forwarded_properties

set of properties forwarded from input to output InterfaceState

Type:

list

init(self: pymoveit_mtc.core.Stage, robot_model: moveit::core::RobotModel) → None

Initialize the stage once before planning. Will setup properties configured for initialization from parent.

property marker_ns

Namespace for any markers that are associated to the stage

Type:

str

property max_penetration

Cutoff length up to which collision objects get fixed.

Type:

float

property name

name of the stage displayed e.g. in rviz

Type:

str

property properties

PropertyMap of the stage (read-only)

Type:

PropertyMap

reset(self: pymoveit_mtc.core.Stage) → None

Reset the Stage. Clears all solutions, interfaces and inherited properties

setCostTerm(*args, **kwargs)

Overloaded function.

1. setCostTerm(self: pymoveit_mtc.core.Stage, arg0: pymoveit_mtc.core.CostTerm) -> None

Specify a CostTerm for calculation of stage costs

2. setCostTerm(self: pymoveit_mtc.core.Stage, arg0: Callable[[pymoveit_mtc.core.SubTrajectory, str], float]) -> None

Specify a function to calculate trajectory costs

3. setCostTerm(self: pymoveit_mtc.core.Stage, arg0: Callable[[pymoveit_mtc.core.SubTrajectory], float]) -> None

Specify a function to calculate trajectory costs

property solutions

Successful Solutions of the stage (read-only)

property timeout

Maximally allowed time [s] per computation step

Type:

float